Mobile robotic vehicle
First Claim
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1. A mobile robot comprising:
- a robot chassis having a forward end, a rearward end and a center of gravity;
a driven support surface moveably connected to the chassis and configured to propel the robot chassis forward and rearward;
a first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis, wherein the arm is configured to trail the robot, to rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise; and
a controller configured to execute an obstacle surmounting control routine stored on the mobile robot to drive the support surface to place the support surface in contact with a riser of a first stair below an uppermost edge of the first stair riser and to further drive the support surface to cause the forward end of the robot to ascend the first stair riser, the support surface generating sufficient traction against the riser to climb the riser as the support surface is driven, and to pivot the articulated arm to raise the rearward end of the vehicle while the forward end of the vehicle is supported by the first stair.
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Abstract
A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.
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Citations
12 Claims
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1. A mobile robot comprising:
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a robot chassis having a forward end, a rearward end and a center of gravity; a driven support surface moveably connected to the chassis and configured to propel the robot chassis forward and rearward; a first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis, wherein the arm is configured to trail the robot, to rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise; and a controller configured to execute an obstacle surmounting control routine stored on the mobile robot to drive the support surface to place the support surface in contact with a riser of a first stair below an uppermost edge of the first stair riser and to further drive the support surface to cause the forward end of the robot to ascend the first stair riser, the support surface generating sufficient traction against the riser to climb the riser as the support surface is driven, and to pivot the articulated arm to raise the rearward end of the vehicle while the forward end of the vehicle is supported by the first stair. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification